CN109531579B

CN109531579B - Mechanical arm demonstration method, device, system, medium, controller and mechanical arm

Info

Publication number: CN109531579B
Application number: CN201811649184.9A
Authority: CN
Inventors: 姜冠雄
Original assignee: Beijing Orion Star Technology Co Ltd
Current assignee: Beijing Orion Star Technology Co Ltd
Priority date: 2018-12-30
Filing date: 2018-12-30
Publication date: 2022-03-08
Anticipated expiration: 2038-12-30
Also published as: CN109531579A

Abstract

The invention discloses a mechanical arm teaching method, a device, a system, a medium, a controller and a mechanical arm, which are used for solving the problem that the mechanical arm teaching method in the prior art is difficult to control the mechanical arm to simulate more precise teaching actions. The method specifically comprises the following steps: the tracker is used for collecting teaching motion trail parameters during teaching motion and sending the teaching motion trail parameters to the mechanical arm controller; the mechanical arm controller converts the teaching motion trail parameters into simulation motion trail parameters according to the motion trail parameter conversion relation between the tracker and the mechanical arm, and controls the mechanical arm to simulate teaching motion based on the simulation motion trail parameters. Therefore, the tracker can be used for tracking the more precise teaching action of the human hand and obtaining the teaching motion trail parameters with higher precision, so that the finally obtained simulation motion trail parameters can accurately embody the teaching motion trail, and the aim of controlling the mechanical arm to simulate the more precise teaching action is fulfilled.

Description

Mechanical arm demonstration method, device, system, medium, controller and mechanical arm

Technical Field

The invention relates to the technical field of mechanical arm control, in particular to a mechanical arm teaching method, a device, a system, a medium, a controller and a mechanical arm.

Background

The mechanical arm is an electronic mechanical device with the functions of simulating an arm, a wrist and a hand, and can move any object according to the time-varying requirement of the space pose, so that the industrial operations of clamping a welding tongs or a welding gun, spot welding or arc welding, carrying parts or components, laser cutting, spraying, assembling mechanical parts and the like are completed.

Currently, a teaching and reproducing mode is usually adopted to enable the mechanical arm to complete corresponding industrial operation, wherein the teaching process is a process for guiding the mechanical arm to perform industrial operation by executing teaching actions, and the reproducing process is a process for simulating the teaching actions by means of memory.

In the prior art, a mode of dragging the mechanical arm by a human hand is usually adopted to teach the mechanical arm, however, the mode of dragging the mechanical arm by the human hand to teach the mechanical arm is difficult to control the mechanical arm to simulate a more precise teaching action.

Disclosure of Invention

The embodiment of the invention provides a mechanical arm teaching method, a device, a system, a medium, a controller and a mechanical arm, which are used for solving the problem that the mechanical arm teaching method in the prior art is difficult to control the mechanical arm to simulate more precise teaching actions.

The embodiment of the invention provides the following specific technical scheme:

the embodiment of the invention provides a mechanical arm teaching method, which is applied to a mechanical arm controller, wherein the mechanical arm teaching method comprises the following steps:

acquiring teaching motion track parameters of the tracker, which are acquired by the tracker during teaching motion;

converting the teaching motion trail parameters into simulated motion trail parameters according to a motion trail parameter conversion relation between the tracker and the mechanical arm which is obtained in advance;

and controlling the mechanical arm to simulate teaching motion based on the simulated motion trail parameters.

The embodiment of the invention provides another mechanical arm teaching method which is applied to a tracker, wherein the mechanical arm teaching method comprises the following steps:

collecting teaching motion trail parameters of a tracker during teaching motion;

and sending the teaching motion trail parameters to a mechanical arm controller.

The embodiment of the invention provides a mechanical arm teaching device, which is applied to a mechanical arm controller, wherein the mechanical arm teaching device comprises:

the acquisition unit is used for acquiring teaching motion track parameters of the tracker, which are acquired by the tracker during teaching motion;

the conversion unit is used for converting the teaching motion trail parameters obtained by the obtaining unit into simulated motion trail parameters according to the motion trail parameter conversion relation between the tracker and the mechanical arm obtained in advance;

and the control unit is used for controlling the mechanical arm to simulate teaching movement based on the simulated movement track parameters obtained by the conversion unit.

The embodiment of the invention provides another mechanical arm teaching device which is applied to a tracker, wherein the mechanical arm teaching device comprises:

the acquisition unit is used for acquiring teaching motion track parameters of the tracker during teaching motion;

and the communication unit is used for sending the teaching motion trail parameters to the mechanical arm controller.

The embodiment of the invention provides a mechanical arm teaching system, which comprises: a robot arm, a robot arm controller, and a tracker in communication with the robot arm controller, wherein,

the tracker is used for collecting teaching motion trail parameters of the tracker during teaching motion and sending the teaching motion trail parameters to the mechanical arm controller;

and the mechanical arm controller is used for converting the teaching motion trail parameters into simulated motion trail parameters according to the motion trail parameter conversion relation between the tracker and the mechanical arm, and controlling the mechanical arm to simulate teaching motion based on the simulated motion trail parameters.

The embodiment of the invention provides a computer storage medium, wherein an executable program is stored in the computer storage medium, and the executable program is executed by a processor to realize the steps of the mechanical arm teaching method applied to the tracker, which are provided by the embodiment of the invention; or, implementing the steps of the robot arm teaching method applied to the robot arm controller provided by the embodiment of the present invention.

An embodiment of the present invention provides a robot arm controller, including: the robot teaching method comprises the steps of a robot teaching method applied to a robot controller provided by an embodiment of the invention when the computer program is executed by the processor.

The embodiment of the invention provides a mechanical arm, which comprises the mechanical arm controller provided by the embodiment of the invention.

The embodiment of the invention has the following beneficial effects:

in the embodiment of the invention, in the process of teaching the mechanical arm by the handheld tracker, not only can the finer teaching action executed by the human hand be tracked by the tracker, but also the higher-precision teaching motion trail parameters can be obtained by the tracker, so that the teaching motion trail can be accurately embodied by the simulated motion trail parameters converted according to the teaching motion trail parameters, and further, when the mechanical arm is controlled based on the simulated motion trail parameters, the finer teaching action executed by the human hand can be simulated by the mechanical arm.

Drawings

Fig. 1 is a schematic system diagram of a robot teaching system provided in an embodiment of the present invention;

FIG. 2 is a schematic flow chart illustrating a method for calibrating a robot arm according to an embodiment of the present disclosure;

FIG. 3 is a schematic flow chart illustrating a method for teaching a robot arm according to an embodiment of the present invention;

fig. 4 is a schematic specific flow diagram of a mechanical arm teaching method in a specific application scenario, where "the motion trajectory parameter transformation relationship between the tracker and the mechanical arm includes a coordinate rotation transformation relationship and a pose transformation relationship" provided in an embodiment of the present invention;

fig. 5 is a schematic specific flow diagram of a mechanical arm teaching method in a specific application scenario, where "the motion trajectory parameter transformation relationship between the tracker and the mechanical arm includes a coordinate transformation translation relationship and a posture transformation relationship" provided in an embodiment of the present invention;

fig. 6 is a functional structure diagram of a robot arm teaching device applied to a robot arm controller according to an embodiment of the present invention;

FIG. 7 is a functional block diagram of a robot teaching device applied to a tracker according to an embodiment of the present invention;

fig. 8 is a schematic hardware configuration diagram of the robot controller provided in the embodiment of the present invention.

Detailed Description

In order to facilitate understanding of the present invention, some technical terms related to the embodiments of the present invention will be described below.

The tracker is a positioning device capable of positioning its own position coordinate and attitude angle and sending the position coordinate and attitude angle to the arm controller via a wireless network, for example: a spatial tracking locator, or other locating device capable of performing the above-described functions, etc.

Teaching motion trail parameters, which are motion trail parameters when the tracker moves along with a human hand in the process of teaching the mechanical arm by the handheld tracker, and include but are not limited to: teaching position coordinates of the tracker and teaching attitude angles of the tracker.

The simulated motion trail parameters are the mechanical arm terminal motion trail parameters converted from the teaching motion trail parameters and used for controlling the mechanical arm to simulate teaching actions, and include but are not limited to: and simulating the position coordinates and/or simulating the attitude angles of the tail end of the mechanical arm.

And the motion trail parameter transformation relation is the transformation relation between the tracker motion trail parameters and the mechanical arm motion trail parameters and is used for converting the teaching motion trail parameters into the simulation motion trail parameters.

In one embodiment, the motion trajectory parameter transformation relationship may include, but is not limited to: the coordinate rotation transformation relation between the mechanical arm and the tracker and the pose transformation relation between the tail end of the mechanical arm and the tracker. The coordinate rotation transformation relation is used for converting teaching motion trail parameters from a tracker coordinate system to a mechanical arm coordinate system; the pose transformation relation is used for converting teaching motion trail parameters in a mechanical arm coordinate system into simulated motion trail parameters of the mechanical arm tail end, and the pose transformation relation can include but is not limited to: the attitude transformation relation between the tail end of the mechanical arm and the tracker and the relative position relation between the tail end of the mechanical arm and the origin of the coordinate system of the tracker.

In another embodiment, the motion trajectory parameter transformation relationship may include, but is not limited to: the coordinate transformation translation relation between the mechanical arm and the tracker and the posture transformation relation between the tail end of the mechanical arm and the tracker. The coordinate transformation translation relationship is used for converting the teaching motion track parameters in the robot arm coordinate system into the simulated motion track parameters of the robot arm end while converting the teaching motion track parameters from the tracker coordinate system into the robot arm coordinate system, and the coordinate transformation translation relationship may include, but is not limited to: a coordinate rotation transformation relation and a coordinate translation transformation relation between the mechanical arm and the tracker; and the posture transformation relation is used for converting the tracker teaching posture angle in the teaching motion trail parameters under the mechanical arm coordinate system into the simulation posture angle at the tail end of the mechanical arm.

It should be noted that, when "and/or" is mentioned herein to describe an association relationship of associated objects, it means that there may be three relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. Furthermore, references herein to "first," "second," "third," etc., are intended to distinguish similar elements and not necessarily to describe a particular order or sequence. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein.

In a specific practice process, the inventor of the application finds that the problem that the existing mechanical arm teaching method is difficult to control a mechanical arm to simulate a more precise teaching action is solved, and therefore, the inventor of the application considers that a tracker collects teaching motion track parameters during teaching motion and sends the teaching motion track parameters to a mechanical arm controller, and the mechanical arm controller converts the teaching motion track parameters into simulated motion track parameters according to a motion track parameter conversion relation between the tracker and the mechanical arm obtained in advance and controls the mechanical arm to simulate the teaching motion based on the simulated motion track parameters. Like this, at the in-process that handheld tracker taught the arm, not only can track the more meticulous teaching action that the staff carried out through the tracker, but also can obtain the teaching trajectory parameter of higher precision through the tracker, this just makes the simulation trajectory parameter of movement that converts according to the teaching trajectory parameter can embody the teaching trajectory accurately, and then when controlling the arm based on the simulation trajectory parameter, can make the arm simulate out the comparatively meticulous teaching action that the staff carried out.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

An embodiment of the present invention provides a robot teaching system, and referring to fig. 1, a robot teaching system 100 according to an exemplary embodiment of the present invention includes: a robot arm 101, a robot arm controller 102, and a tracker 103 communicatively coupled to the robot arm controller 102, wherein,

the tracker 103 is used for collecting teaching motion trail parameters of the tracker 103 during teaching motion and sending the teaching motion trail parameters to the mechanical arm controller 102;

and the mechanical arm controller 102 is configured to convert the teaching motion trail parameters into simulated motion trail parameters according to a motion trail parameter conversion relationship between the tracker 103 and the mechanical arm 101, which is obtained in advance, and control the mechanical arm 101 to simulate teaching motion based on the simulated motion trail parameters.

In one possible embodiment, teaching the motion trajectory parameters comprises: teaching position coordinates and/or teaching posture angles of the tracker;

the simulation motion trail parameters comprise: and simulating the position coordinates and/or simulating the attitude angles of the tail end of the mechanical arm.

In a possible implementation manner, the robot controller 102 is configured to perform coordinate system conversion processing on the taught motion trajectory parameter according to a coordinate rotation transformation relationship between the tracker and the robot in the motion trajectory parameter transformation relationship, so as to obtain a taught motion trajectory parameter in a robot coordinate system; and performing pose conversion processing on the teaching motion trail parameters under the mechanical arm coordinate system according to the pose transformation relation between the tracker 103 and the tail end of the mechanical arm 101 in the motion trail parameter transformation relation to obtain simulated motion trail parameters.

In one possible embodiment, the pose transformation relationship includes a relative position relationship between the origin of the tracker 103 coordinate system and the end of the robot arm 101 and a pose transformation relationship between the tracker and the end of the robot arm; the mechanical arm controller 102 is specifically configured to perform position translation processing on the taught motion trajectory parameter in the mechanical arm coordinate system according to the relative position relationship in the pose transformation relationship, so as to obtain a taught motion trajectory parameter of the end of the mechanical arm 101; and performing attitude conversion processing on the teaching motion trail parameters at the tail end of the mechanical arm 101 according to the attitude transformation relation in the attitude transformation relation to obtain simulated motion trail parameters.

In a possible implementation manner, the robot arm controller 102 is configured to perform coordinate system conversion and coordinate translation processing on the taught motion trajectory parameter according to a coordinate transformation translation relationship between the tracker and the robot arm in the motion trajectory parameter transformation relationship, so as to obtain a taught motion trajectory parameter of the robot arm end; and performing attitude conversion processing on the teaching motion trail parameters at the tail end of the mechanical arm 101 according to the attitude conversion relation between the tracker 103 and the tail end of the mechanical arm 101 in the motion trail parameter conversion relation to obtain simulated motion trail parameters.

In one possible embodiment, the coordinate transformation translation relationship includes a coordinate rotation transformation relationship and a coordinate translation transformation relationship between the tracker 103 and the robot arm 101; the mechanical arm controller 102 is specifically configured to perform coordinate system conversion processing on the taught motion trajectory parameters according to a coordinate rotation transformation relation in the coordinate transformation translation relation to obtain taught motion trajectory parameters in a mechanical arm coordinate system; and performing position translation processing on the teaching motion trail parameters under the mechanical arm coordinate system according to the coordinate translation transformation relation in the coordinate translation transformation relation to obtain the teaching motion trail parameters of the tail end of the mechanical arm 101.

In one possible embodiment, the robot arm controller 102 is specifically configured to control the movement of the end of the robot arm 101 from the current position coordinates to the robot arm end simulation position coordinates; and/or, controlling the end of the robot arm 101 to rotate from the current attitude angle to the simulated attitude angle of the end of the robot arm.

In an implementation, the robot controller 102 may be a control module integrated inside the robot 101, or may be an external device independent of the robot 101, such as a computer device, for example, only the robot controller 102 is an external device independent of the robot 101 in fig. 1.

In the embodiment of the present invention, in order to enable the robot arm controller 102 to convert a taught motion trajectory parameter into a simulated motion trajectory parameter according to a motion trajectory parameter transformation relationship between the tracker 103 and the robot arm 101, before teaching the robot arm 101, a motion trajectory parameter transformation relationship between the tracker 103 and the robot arm 101 may be obtained, specifically, an obtaining process of the motion trajectory parameter transformation relationship between the tracker 103 and the robot arm 101 is a calibration process of the robot arm 101, and in a specific implementation, referring to fig. 2, a flow of a robot arm 101 calibration method according to an exemplary embodiment of the present invention is as follows:

step 201: the arm controller 102 controls the arm 101 to execute a predetermined operation.

In one embodiment, the number of predetermined actions may be two, i.e. the predetermined actions may comprise a predetermined first action and a predetermined second action. Specifically, the robot arm controller 102 may first obtain robot arm pose change information based on a preset first motion, control the robot arm 101 to execute the preset first motion based on the robot arm control information after obtaining the robot arm control information based on the robot arm pose change information, obtain the robot arm pose change information based on a preset second motion, and control the robot arm 101 to execute the preset second motion based on the robot arm control information after obtaining the robot arm control information based on the robot arm pose change information. The preset first action and the preset second action may be two different actions.

For example: it is assumed that the first predetermined motion is to draw a circle and the second predetermined motion is to draw a ball with the end of the robot arm as the center of the sphere.

The arm controller 102 may first "draw a circle" according to a preset first action to obtain first arm pose change information, generate first arm control information according to the first arm pose change information, and then control the arm 101 to execute the preset first action based on the first arm control information, that is, control the arm 101 to draw a circle.

Then, the robot arm controller 102 obtains second robot arm posture change information according to a second preset action "drawing a ball with the robot arm end as the center of the ball", generates second robot arm control information according to the second robot arm posture change information, and controls the robot arm 101 to execute the second preset action based on the second robot arm control information, that is, controls the robot arm 101 to draw a ball with the robot arm end as the center of the ball.

In another embodiment, the number of the preset actions may be one, and specifically, the robot controller 102 may obtain robot arm posture change information only based on the preset actions, and after obtaining robot arm control information based on the robot arm posture change information, control the robot arm 101 to execute the preset actions based on the robot arm control information.

For example: assume that the predetermined action is to draw an arc.

The arm controller 102 may "draw an arc line" according to a preset motion to obtain the robot arm pose change information, and after generating the robot arm control information according to the robot arm pose change information, control the robot arm 101 to execute the preset motion based on the robot arm control information, that is, control the robot arm 101 to draw an arc line.

Step 202: the arm controller 102 determines a robot arm movement trajectory parameter when the robot arm 101 performs a preset motion.

In practical applications, the motion trajectory parameters of the mechanical arm include, but are not limited to: the position coordinates of the tail end of the mechanical arm and the attitude angle of the tail end of the mechanical arm. Specifically, the mechanical arm controller 102 may directly determine a mechanical arm motion trajectory parameter according to the mechanical arm pose change information obtained in the process of obtaining the mechanical arm control information, or may determine a motion trajectory parameter reported by the mechanical arm 101 as a mechanical arm motion trajectory parameter in the process of controlling the mechanical arm 101 to execute a preset action.

In one embodiment, if the number of the preset actions is two, the robot controller 102 may determine the motion trajectory parameter reported by the robot 101 as the robot motion trajectory parameter when the robot 101 performs the preset first action during the process of controlling the robot 101 to perform the preset first action, and determine the motion trajectory parameter reported by the robot 101 as the robot motion trajectory parameter when the robot 101 performs the preset second action during the process of controlling the robot 101 to perform the preset second action.

For example: continuing with the above example, in the process of controlling the mechanical arm 101 to execute the preset first action, that is, in the process of controlling the mechanical arm 101 to draw a circle, the mechanical arm controller 102 determines the motion trajectory parameters, such as the mechanical arm end position coordinate and the mechanical arm end attitude angle, reported by the mechanical arm 101 as the mechanical arm motion trajectory parameters when the mechanical arm 101 executes the circle drawing action; and determining motion trajectory parameters such as the position coordinates of the tail end of the mechanical arm and the attitude angle of the tail end of the mechanical arm reported by the mechanical arm 101 as the motion trajectory parameters of the mechanical arm when the mechanical arm 101 executes the ball drawing action in the process of controlling the mechanical arm 101 to execute the preset second action, namely in the process of controlling the mechanical arm 101 to draw a ball by taking the tail end of the mechanical arm as the center of the ball.

Correspondingly, in another embodiment, if the number of the preset actions is one, the robot controller 102 may determine the motion trajectory parameters reported by the robot 101 as the robot motion trajectory parameters when the robot 101 executes the preset actions in the process of controlling the robot 101 to execute the preset actions.

For example: continuing with the above example, in the process of controlling the robot arm 101 to execute the preset action, that is, in the process of controlling the robot arm 101 to draw an arc, the robot arm controller 102 determines the motion trajectory parameters, such as the robot arm end position coordinates and the robot arm end attitude angle, reported by the robot arm 101 as the robot arm motion trajectory parameters when the robot arm 101 executes the arc drawing action.

Step 203: the tracker 103 acquires tracker motion trajectory parameters when the robot arm 101 executes a preset motion.

In practical applications, since the tracker 103 is mounted on the robot end control device 1010, when the robot 101 performs a predetermined action under the control of the robot controller 102, the tracker will also move along with the robot end control device 1010, and based on this, the tracker 103 can acquire tracker motion trajectory parameters when the robot 101 performs the predetermined action, where the tracker motion trajectory parameters include but are not limited to: tracker position coordinates and tracker pose angles.

In one embodiment, if the number of the preset motions is two, the tracker 103 may acquire the tracker motion trail parameters when the robot arm 101 performs a preset first motion, and acquire the tracker motion trail parameters when the robot arm 101 performs a preset second motion.

For example: continuing with the above example, the tracker 103 acquires tracker motion trajectory parameters such as tracker position coordinates and tracker attitude angles when the mechanical arm 101 performs a preset first action, that is, when the mechanical arm 101 performs a circle-drawing action, and acquires tracker motion trajectory parameters such as tracker position coordinates and tracker attitude angles when the mechanical arm 101 performs a preset second action, that is, when the mechanical arm 101 performs a ball-drawing action.

Correspondingly, in another embodiment, if the number of the preset actions is one, the tracker 103 may collect the tracker motion trajectory parameters only when the robot arm 101 performs the preset actions.

For example: continuing with the above example, the tracker 103 acquires tracker motion trajectory parameters such as tracker position coordinates and tracker attitude angles when the mechanical arm 101 executes a preset action, that is, when the mechanical arm 101 executes an arc drawing action.

Step 204: the tracker 103 sends the tracker motion trajectory parameters to the arm controller 102.

In one embodiment, if the number of the preset actions is two, the tracker 103 may send the collected tracker motion trail parameters to the robot controller during the robot 101 executes a preset first action, and send the collected tracker motion trail parameters to the robot controller 102 during the robot 101 executes a preset second action.

For example: continuing with the above example, the tracker 103 sends the acquired tracker motion trajectory parameters such as the tracker position coordinates and the tracker attitude angle to the robot arm controller 102 in the process of executing the preset first action by the robot arm 101, that is, in the process of executing the circle drawing action by the robot arm 101, and sends the acquired tracker motion trajectory parameters such as the tracker position coordinates and the tracker attitude angle to the robot arm controller 102 in the process of executing the preset second action by the robot arm 101, that is, in the process of executing the ball drawing action by the robot arm 101.

Correspondingly, in another embodiment, if the number of the preset actions is one, the tracker 103 may send the acquired tracker motion trajectory parameters to the robot arm controller 102 only during the process that the robot arm 101 executes the preset actions.

For example: continuing with the above example, the tracker 103 sends the acquired tracker motion trajectory parameters such as the tracker position coordinates and the tracker attitude angle to the robot arm controller 102 in the process that the robot arm 101 executes the preset action, that is, in the process that the robot arm 101 executes the arc drawing action.

Step 205: the arm controller 102 acquires a tracker motion trajectory parameter acquired by the tracker 103 when the arm 101 executes a preset motion.

In one embodiment, if the number of preset motions is two, the robot arm controller 102 may determine the tracker motion trajectory parameter sent by the tracker 103 as the tracker motion trajectory parameter when the robot arm 101 executes the preset first motion during the control of the robot arm 101 to execute the preset first motion, and determine the tracker motion trajectory parameter sent by the tracker 103 as the tracker motion trajectory parameter when the robot arm 101 executes the preset second motion during the control of the robot arm 101 to execute the preset second motion.

For example: continuing with the above example, the robot arm controller 102 determines, during the control of the robot arm 101 to execute the preset first motion, that is, during the control of the robot arm 101 to execute the circle drawing motion, the tracker motion trajectory parameters such as the tracker position coordinates and the tracker attitude angle sent by the tracker 103 as the tracker motion trajectory parameters when the robot arm 101 executes the circle drawing motion, and determines, during the control of the robot arm 101 to execute the preset second motion, that is, during the control of the robot arm 101 to execute the ball drawing motion, the tracker motion trajectory parameters such as the tracker position coordinates and the tracker attitude angle sent by the tracker 103 as the tracker motion trajectory parameters when the robot arm 101 executes the ball drawing motion.

Correspondingly, in another embodiment, if the number of the preset actions is one, the robot arm controller 102 may determine the tracker motion trajectory parameters sent by the tracker 103 as the tracker motion trajectory parameters when the robot arm 101 executes the preset actions in the process of controlling the robot arm 101 to execute the preset actions.

For example: continuing with the above example, the robot arm controller 102 determines tracker motion trajectory parameters such as tracker position coordinates and tracker attitude angles sent by the tracker 103 as tracker motion trajectory parameters when the robot arm 101 executes an arc drawing motion in the process of controlling the robot arm 101 to execute a preset motion, that is, in the process of controlling the robot arm 101 to execute the arc drawing motion.

Step 206: the mechanical arm controller 102 obtains a motion trajectory parameter transformation relationship between the mechanical arm 101 and the tracker 103 based on the mechanical arm motion trajectory parameter and the tracker motion trajectory parameter.

In one embodiment, if the number of preset actions is two, the robot arm controller 102 may obtain the motion trajectory parameter transformation relationship between the robot arm 101 and the tracker 103 by using, but not limited to, the following methods:

first, the robot arm controller 102 may obtain a coordinate rotation conversion relationship between the robot arm 101 and the tracker 103 based on a robot arm movement locus parameter and a tracker movement locus parameter when the robot arm 101 executes a preset first motion.

Specifically, the mechanical arm controller 102 may analyze a mechanical arm motion trajectory parameter and a tracker motion trajectory parameter when the mechanical arm 101 executes a preset first action by using a first algorithm to obtain a coordinate rotation transformation relationship; wherein, the first algorithm may be, but is not limited to, an Iterative Closest Points (ICP) algorithm, and the coordinate rotation transformation relation may be, but is not limited to, a coordinate rotation transformation matrix.

Then, the robot arm controller 102 may obtain a pose transformation relationship between the end of the robot arm 101 and the tracker 103 based on the robot arm motion trajectory parameter and the tracker motion trajectory parameter when the robot arm 101 performs the preset second motion.

Specifically, the mechanical arm controller 102 may perform coordinate system conversion processing on a tracker movement trajectory parameter when the mechanical arm 101 performs a preset second action based on a coordinate rotation transformation relationship to obtain a tracker movement trajectory parameter in a mechanical arm coordinate system, analyze the tracker movement trajectory parameter in the mechanical arm coordinate system and the mechanical arm movement trajectory parameter when the mechanical arm 101 performs the preset second action by using a second algorithm to obtain a posture transformation relationship between the end of the mechanical arm 101 and the tracker 103 and a relative position relationship between the end of the mechanical arm 101 and the origin of the mechanical arm 103 coordinate system, and determine the posture transformation relationship and the relative position relationship as a posture transformation relationship between the end of the mechanical arm 101 and the tracker 103; wherein, the second algorithm may be, but is not limited to, a sphere fitting algorithm, the posture transformation relation may be, but is not limited to, a posture transformation matrix, and the relative position relation may be, but is not limited to, a relative position matrix.

Finally, the robot arm controller 102 may determine the coordinate rotation transformation relationship and the pose transformation relationship as the motion trajectory parameter transformation relationship between the robot arm 101 and the tracker 103.

For example: continuing with the above example, the arm controller 102 analyzes the arm motion trajectory parameters and the tracker motion trajectory parameters when the arm 101 performs a circle drawing action by using an ICP algorithm to obtain a coordinate rotation transformation matrix [ R ] between the arm 101 and the tracker 103, and determines the coordinate rotation transformation matrix [ R ] as a coordinate rotation transformation relation tanform 1A between the arm 101 and the tracker 103.

The mechanical arm controller 102 performs coordinate system conversion processing on the tracker motion trajectory parameters when the mechanical arm 101 performs the ball drawing action based on the coordinate rotation transformation matrix [ R ] to obtain tracker motion trajectory parameters in the mechanical arm coordinate system, analyzes the tracker motion trajectory parameters in the mechanical arm coordinate system and the mechanical arm motion trajectory parameters when the mechanical arm 101 performs the ball drawing action by using a spherical fitting algorithm to obtain a posture transformation matrix [ R _ TCP ] between the tail end of the mechanical arm 101 and the tracker 103 and a relative position matrix [ T ] between the tail end of the mechanical arm 101 and the origin of the mechanical arm 103 coordinate system, and determines the posture transformation matrix [ R _ TCP ] and the relative position matrix [ T ] as a posture transformation relation tanform 2A between the tail end of the mechanical arm 101 and the tracker 103.

The robot arm controller 102 determines the coordinate rotation transformation relationship tanform 1A and the pose transformation relationship tanform 2A as the motion trajectory parameter transformation relationship tanform [ tanform 1A, tanform 2A ] between the robot arm 101 and the tracker 103.

Correspondingly, in another embodiment, if the number of the preset actions is one, the robot arm controller 102 may adopt, but is not limited to, the following ways when obtaining the motion trajectory parameter transformation relationship between the robot arm 101 and the tracker 103:

first, the robot arm controller 102 obtains a coordinate rotation transformation relationship and a coordinate translation transformation relationship between the robot arm 101 and the tracker 103 based on the robot arm movement trajectory parameter and the tracker movement trajectory parameter when the robot arm 101 executes a preset motion, and determines the coordinate rotation transformation relationship and the coordinate translation transformation relationship as the coordinate transformation translation relationship between the robot arm 101 and the tracker 103.

Specifically, the mechanical arm controller 102 may analyze a mechanical arm motion trajectory parameter and a tracker motion trajectory parameter when the mechanical arm 101 executes a preset action by using a third algorithm to obtain a coordinate rotation transformation relationship and a coordinate translation transformation relationship; the third algorithm may be the same algorithm as the first algorithm or different algorithms, the mechanical arm calibration method according to the exemplary embodiment of the present invention is described by taking only the third algorithm and the first algorithm as the same algorithm, which are both ICP algorithms as examples, the coordinate rotation transformation relationship may be, but is not limited to, a coordinate rotation transformation matrix, and the coordinate translation transformation relationship may be, but is not limited to, a coordinate translation transformation matrix.

Then, the robot arm controller 102 may perform coordinate system conversion processing on the tracker attitude angle in the tracker motion trajectory parameter based on the coordinate rotation transformation relationship to obtain a tracker attitude angle in the robot arm coordinate system, and analyze the tracker attitude angle in the robot arm coordinate system and the robot arm end attitude angle in the robot arm motion trajectory parameter to obtain a posture transformation relationship between the end of the robot arm 101 and the tracker 103.

Finally, the robot arm controller 102 may determine the coordinate transformation translation relationship and the posture transformation relationship as the motion trajectory parameter transformation relationship between the robot arm 101 and the tracker 103.

For example: continuing to use the above example, the manipulator controller 102 analyzes the manipulator motion trajectory parameters and the tracker motion trajectory parameters when the manipulator performs the arc drawing action by using an ICP algorithm to obtain a coordinate rotation transformation matrix [ R ] and a coordinate translation transformation matrix [ T ] between the manipulator 101 and the tracker 103, and determines the coordinate rotation transformation matrix [ R ] and the coordinate translation transformation matrix [ T ] as a coordinate transformation translation relation tanform 1B.

The mechanical arm controller 102 performs coordinate system conversion processing on the tracker attitude angle in the tracker motion trajectory parameter based on the coordinate rotation transformation matrix [ R ] to obtain the tracker attitude angle in the mechanical arm coordinate system, analyzes the tracker attitude angle in the mechanical arm coordinate system and the mechanical arm tail end attitude angle in the mechanical arm motion trajectory parameter to obtain the attitude transformation matrix [ R _ TCP ] between the tail end of the mechanical arm 101 and the tracker 103, and determines the attitude transformation matrix [ R _ TCP ] as the attitude transformation relation tanform 2B between the tail end of the mechanical arm 101 and the tracker 103.

The robot arm controller 102 determines the coordinate transformation translation relationship tanform 1B and the posture transformation relationship tanform 2B as the motion trajectory parameter transformation relationship tanform [ tanform 1B, tanform 2B ] between the robot arm 101 and the tracker 103.

Further, after the mechanical arm 101 is calibrated to obtain the motion trajectory parameter transformation relationship between the tracker 103 and the mechanical arm 101, the mechanical arm 101 may be taught by holding the tracker 103 by hand and using the mechanical arm teaching system 100 according to the exemplary embodiment of the present invention. The robot teaching method according to the embodiment of the present invention will be described in detail below with reference to the robot teaching system 100 according to the exemplary embodiment of the present invention.

Referring to fig. 3, a flow of a robot arm teaching method according to an exemplary embodiment of the present invention is as follows:

step 301: the tracker 103 acquires teaching motion trajectory parameters of the tracker 103 during teaching motion.

In practical application, in order to enable the tracker 103 to enter and exit the teaching mode in time, before teaching the mechanical arm 101, a teach worker can hold the tracker 103 by hand to execute a preset teaching starting action, the tracker 103 collects motion trajectory parameters of the tracker 103 while moving along with a human hand, and the teaching mode is entered when the current motion trajectory is determined to be the preset teaching starting action according to the collected motion trajectory parameters.

Further, the teach pendant executes a preset teaching start action through the handheld tracker 103, so that the tracker 103 enters a teaching mode, that is, the handheld tracker 103 executes the teaching action, and the tracker 103 acquires teaching motion trajectory parameters while executing the teaching action together with a human hand, wherein the teaching motion trajectory parameters include but are not limited to: the tracker teaches position coordinates and/or the tracker teaches attitude angles.

For example: assuming that a preset teaching start motion is taken as drawing a circle, before teaching the mechanical arm 101, the tracker 103 can be held by hand to draw a circle, the tracker 103 collects the motion trail parameters of the tracker 103 while moving along with the human hand, and enters a teaching mode when the current motion trail is determined to be a circle according to the collected motion trail parameters.

Further, after the teaching person draws a circle on the handheld tracker 103, the teaching person can perform teaching actions on the handheld tracker 103, and while the teaching person performs the teaching actions on the handheld tracker 103, the tracker 103 can acquire teaching motion trajectory parameters such as tracker teaching position coordinates and/or tracker teaching attitude angles in real time.

Step 302: the tracker 103 transmits the teaching trajectory parameters to the arm controller 102.

Preferably, in order to facilitate the Communication between the tracker 103 and the arm controller 102, a Communication connection may be established between the tracker 103 and the arm controller 102 through a Mobile Communication network such as Global System for Mobile Communication (GSM), so that the tracker 103 may send the acquired teaching motion trajectory parameters to the arm controller 102.

Step 303: the robot arm controller 102 acquires a teaching motion trajectory parameter acquired by the tracker 103 during teaching motion, and converts the teaching motion trajectory parameter sent by the tracker 103 into a simulated motion trajectory parameter according to a motion trajectory parameter conversion relationship between the tracker 103 and the robot arm 101 acquired in advance.

In practical application, the manipulator controller 102 may determine the tracker taught position coordinates and/or the tracker taught attitude angles reported by the tracker 103 as taught motion trajectory parameters.

In one embodiment, the motion trajectory parameter transformation relationship between the tracker 103 and the robotic arm 101 may include: when the robot arm controller 102 converts the teaching trajectory parameters sent by the tracker 103 into the simulated trajectory parameters according to the pre-obtained trajectory parameter transformation relationship between the tracker 103 and the robot arm 101, the following methods can be adopted, but are not limited to:

firstly, the manipulator controller 102 may perform coordinate system conversion processing on the teaching motion trajectory parameters according to the coordinate rotation transformation relationship between the tracker 103 and the manipulator 101 in the motion trajectory parameter transformation relationship to obtain teaching motion trajectory parameters in a manipulator coordinate system; the coordinate rotation transformation relation may be, but is not limited to, a coordinate rotation transformation matrix.

Then, the manipulator controller 102 may perform pose transformation processing on the teaching motion trajectory parameters in the manipulator coordinate system according to a pose transformation relationship in the motion trajectory parameter transformation relationship to obtain simulated motion trajectory parameters, where the pose transformation relationship may include but is not limited to: a relative positional relationship between the origin of the tracker 103 coordinate system and the end of the robot arm 101, which may be, but is not limited to, a relative position matrix, and a posture transformation relationship between the tracker 103 and the end of the robot arm 101, which may be, but is not limited to, a posture transformation matrix.

In specific implementation, the robot arm controller 102 may perform position translation processing on the taught motion trajectory parameter in the robot arm coordinate system according to the relative position relationship in the pose transformation relationship to obtain a taught motion trajectory parameter at the end of the robot arm 101, and perform pose conversion processing on the taught motion trajectory parameter at the end of the robot arm according to the pose transformation relationship in the pose transformation relationship to obtain a simulated motion trajectory parameter.

For example: assume that coordinate rotation transformation relation tanform 1A is coordinate rotation transformation matrix [ R ], pose transformation relation tanform 2A includes relative position matrix [ T ], and pose transformation relation tanform 2A includes pose transformation matrix [ R _ TCP ].

After receiving the taught motion trajectory parameters sent by the tracker 103, the robot arm controller 102 may perform coordinate system conversion processing on the taught motion trajectory parameters according to the coordinate rotation transformation matrix [ R ] to obtain taught motion trajectory parameters in the robot arm coordinate system, perform position translation processing on the taught motion trajectory parameters in the robot arm coordinate system according to the relative position matrix [ T ] to obtain taught motion trajectory parameters at the end of the robot arm 101, and finally perform posture conversion processing on the taught motion trajectory parameters at the end of the robot arm according to the posture transformation matrix [ R _ TCP ] to obtain simulated motion trajectory parameters.

In another embodiment, the motion trajectory parameter transformation relationship between the tracker 103 and the robotic arm 101 may include: when the robot arm controller 102 converts the teaching trajectory parameters sent by the tracker 103 into analog trajectory parameters according to the previously obtained trajectory parameter transformation relationship between the tracker 103 and the robot arm 101, the following methods may be adopted, but are not limited to:

first, the robot arm controller 102 may perform coordinate system conversion and coordinate translation processing on the taught motion trajectory parameters according to a coordinate transformation translation relationship in the motion trajectory parameter transformation relationship to obtain taught motion trajectory parameters of the robot arm end, where the coordinate transformation translation relationship may include but is not limited to: coordinate rotation transformation relation and coordinate translation transformation relation.

In specific implementation, the robot arm controller 102 may first perform coordinate system conversion processing on the taught motion trajectory parameter according to a coordinate rotation transformation relationship in the coordinate transformation translation relationship to obtain a taught motion trajectory parameter in a robot arm coordinate system, and then perform position translation processing on the taught motion trajectory parameter in the robot arm coordinate system according to the coordinate translation transformation relationship in the coordinate transformation translation relationship to obtain a taught motion trajectory parameter at the end of the robot arm 101, where the coordinate rotation transformation relationship may be, but is not limited to, a coordinate rotation transformation matrix, and the coordinate translation transformation relationship may be, but is not limited to, a coordinate translation transformation matrix.

Then, the robot arm controller 102 may perform posture conversion processing on the taught motion trajectory parameter at the end of the robot arm 101 according to the posture conversion relationship in the motion trajectory parameter conversion relationship, to obtain a simulated motion trajectory parameter.

For example: assume that the coordinate rotation transformation relation included in the coordinate transformation translation relation tanform 1B is a coordinate rotation transformation matrix [ R ], the coordinate translation transformation relation included in the coordinate transformation translation relation tanform 1B is a coordinate translation transformation matrix [ T ], and the posture transformation relation tanform 2B is a posture transformation matrix [ R _ TCP ].

After receiving the taught motion trajectory parameter sent by the tracker 103, the robot arm controller 102 may first perform coordinate system conversion processing on the taught motion trajectory parameter according to the coordinate rotation transformation matrix [ R ] to obtain a taught motion trajectory parameter in the robot arm coordinate system, then perform position translation processing on the taught motion trajectory parameter in the robot arm coordinate system according to the coordinate translation transformation matrix [ T ] to obtain a taught motion trajectory parameter at the end of the robot arm 101, and finally perform posture conversion processing on the taught motion trajectory parameter at the end of the robot arm according to the posture transformation matrix [ R _ TCP ] to obtain a simulated motion trajectory parameter.

Step 304: the robot arm controller 102 controls the robot arm 101 to simulate teaching motions based on the simulated motion trajectory parameters.

In practical applications, the simulated motion trajectory parameter may be a simulated position coordinate of the end of the mechanical arm and/or a simulated attitude angle of the end of the mechanical arm. Specifically, the robot arm controller 102 may control the end of the robot arm 101 to move from the current position coordinates to the simulated position coordinates of the end of the robot arm; and/or, controlling the end of the robot arm 101 to rotate from the current attitude angle to the simulated attitude angle of the end of the robot arm.

For example: assuming that the simulated motion trajectory parameter is the simulated position pos _1(x _1, y _1, z _1) of the end of the robot arm, the robot arm controller 102 may control the end of the robot arm 101 to move from the current position pos _0(x _0, y _0, z _0) to the simulated position pos _1(x _1, y _1, z _1) of the end of the robot arm.

For another example: assuming that the simulated motion trajectory parameter is the simulated pose angle rot _1(rx _1, ry _1, rz _1) of the end of the robot arm, the robot arm controller 102 may control the end of the robot arm 101 to rotate from the current pose angle rot _0(rx _0, ry _0, rz _0) to the simulated pose angle rot _1(rx _1, ry _1, rz _1) of the end of the robot arm.

The following steps are repeated: assuming that the simulated motion trajectory parameters are the arm end simulated position coordinates pos _1(x _1, y _1, z _1) and the arm end simulated attitude angles rot _1(rx _1, ry _1, rz _1), the arm controller 102 may control the end of the arm 101 to move from the current position coordinates pos _0(x _0, y _0, z _0) to the arm end simulated position coordinates pos _1(x _1, y _1, z _1) and control the end of the arm 101 to rotate from the current attitude angles rot _0(rx _0, ry _0, rz _0) to the arm end simulated attitude angles rot _1(rx _1, ry _1, rz _ 1).

Further, after the teaching of the robot arm 101 is finished, a preset teaching finishing action can be executed by holding the tracker 103 in hand, the tracker 103 collects the motion trail parameters of the tracker 103 while moving along with the human hand, and exits from the teaching mode when the current motion trail is determined to be the preset teaching finishing action according to the collected motion trail parameters. The preset teaching start operation and the preset teaching end operation may be the same operation or different operations, and are not particularly limited herein.

For example: assuming that a preset teaching ending action is taken as drawing a straight line, after teaching of the mechanical arm 101 is ended, the tracker 103 can be held by hand to draw a straight line, the tracker 103 collects the motion trail parameters of the tracker while moving along with the human hand, and exits from the teaching mode when the current motion trail is determined to be the straight line according to the collected motion trail parameters.

The above embodiment is further described in detail with reference to "the relationship of transformation of the motion trajectory parameters between the tracker 103 and the robot arm 101 includes coordinate rotation transformation and pose transformation" as a specific application scenario, and referring to fig. 4, a specific flow of the robot arm teaching method according to the exemplary embodiment of the present invention is as follows:

step 401: when the teach pendant determines to teach the robot arm 101, the hand tracker 103 draws a circle.

Step 402: the tracker 103 collects motion trajectory parameters of itself, and enters a teaching mode when determining that the current motion trajectory is circular according to the collected motion trajectory parameters.

Step 403: the teach pendant holds tracker 103 to perform the teaching action.

Step 404: the tracker 103 collects teaching motion trail parameters such as tracker teaching position coordinates and/or tracker teaching posture angles in real time.

Step 405: the tracker 103 transmits teaching motion trajectory parameters such as tracker teaching position coordinates and/or tracker teaching attitude angles to the arm controller 102.

Step 406: the arm controller 102 determines the tracker teaching position coordinates and/or the tracker teaching attitude angles sent by the tracker 103 as teaching trajectory parameters.

Step 407: the robot arm controller 102 performs coordinate system conversion processing on the taught motion trajectory parameters according to a coordinate rotation conversion relation tanform 1A, that is, a coordinate rotation conversion matrix [ R ], to obtain taught motion trajectory parameters in a robot arm coordinate system.

Step 408: the manipulator controller 102 performs position translation processing on the teaching motion trail parameters under the manipulator coordinate system according to the relative position matrix [ T ] in the pose transformation relation Tansform2A to obtain the teaching motion trail parameters of the tail end of the manipulator 101.

Step 409: the manipulator controller 102 performs posture conversion processing on the teaching motion trail parameters of the manipulator tail end according to a posture transformation matrix [ R _ TCP ] in the posture transformation relation Tansform2A to obtain simulated motion trail parameters.

Step 410: the robot controller 102 controls the robot 101 to simulate a teaching operation based on the simulated motion trajectory parameter.

In one embodiment, if the simulated motion trajectory parameter is the simulated position of the end of arm pos _1(x _1, y _1, z _1), the arm controller 102 may control the end of the arm 101 to move from the current position pos _0(x _0, y _0, z _0) to the simulated position of the end of the arm pos _1(x _1, y _1, z _ 1).

In another embodiment, if the simulated motion trajectory parameter is the simulated pose angle rot _1(rx _1, ry _1, rz _1) at the end of the robot arm, the robot arm controller 102 may control the end of the robot arm 101 to rotate from the current pose angle rot _0(rx _0, ry _0, rz _0) to the simulated pose angle rot _1(rx _1, ry _1, rz _1) at the end of the robot arm.

In yet another embodiment, if the simulated motion trajectory parameters are the arm end simulated position coordinates pos _1(x _1, y _1, z _1) and the arm end simulated pose angle rot _1(rx _1, ry _1, rz _1), the arm controller 102 may control the end of the arm 101 to move from the current position coordinates pos _0(x _0, y _0, z _0) to the arm end simulated position coordinates pos _1(x _1, y _1, z _1) and control the end of the arm 101 to rotate from the current pose angle rot _0(rx _0, ry _0, rz _0) to the arm end simulated pose angle rot _1(rx _1, ry _1, rz _ 1).

Step 411: when the teach pendant determines that teaching of the robot arm 101 is completed, the hand tracker 103 draws a straight line.

Step 412: the tracker 103 collects motion trail parameters of itself, and exits the teaching mode when determining that the current motion trail is a straight line according to the collected motion trail parameters.

The above embodiment is further described in detail with reference to the specific application scenario of "the motion trajectory parameter transformation relationship between the tracker 103 and the robot arm 101 includes a coordinate transformation translation relationship and a posture transformation relationship", and referring to fig. 5, a specific flow of the robot arm teaching method according to the exemplary embodiment of the present invention is as follows:

step 501: when the teach pendant determines to teach the robot arm 101, the hand tracker 103 draws a circle.

Step 502: the tracker 103 collects motion trajectory parameters of itself, and enters a teaching mode when determining that the current motion trajectory is circular according to the collected motion trajectory parameters.

Step 503: the teach pendant holds tracker 103 to perform the teaching action.

Step 504: the tracker 103 collects teaching motion trail parameters such as tracker teaching position coordinates and/or tracker teaching posture angles in real time.

Step 505: the tracker 103 transmits teaching motion trajectory parameters such as tracker teaching position coordinates and/or tracker teaching attitude angles to the arm controller 102.

Step 506: the arm controller 102 determines the tracker teaching position coordinates and/or the tracker teaching attitude angles sent by the tracker 103 as teaching trajectory parameters.

Step 507: and the mechanical arm controller 102 performs coordinate system conversion processing on the teaching motion trail parameters according to a coordinate rotation transformation matrix [ R ] in a coordinate transformation translation relation Tansform1B to obtain the teaching motion trail parameters in the mechanical arm coordinate system.

Step 508: the manipulator controller 102 performs position translation processing on the teaching motion trajectory parameters in the manipulator coordinate system according to the coordinate translation transformation matrix [ T ] in the coordinate transformation translation relation Tansform1B to obtain the teaching motion trajectory parameters of the end of the manipulator 101.

Step 509: the manipulator controller 102 performs posture conversion processing on the taught motion trajectory parameters at the end of the manipulator according to a posture conversion relation Tansform2B, namely a posture conversion matrix [ R _ TCP ], to obtain simulated motion trajectory parameters.

Step 510: the robot controller 102 controls the robot 101 to simulate a teaching operation based on the simulated motion trajectory parameter.

Step 511: when the teach pendant determines that teaching of the robot arm 101 is completed, the hand tracker 103 draws a straight line.

Step 512: the tracker 103 collects motion trail parameters of itself, and exits the teaching mode when determining that the current motion trail is a straight line according to the collected motion trail parameters.

Based on the above-described embodiments, an embodiment of the present invention provides a robot teaching apparatus applied to a robot controller 102, and referring to fig. 6, a robot teaching apparatus 600 according to an exemplary embodiment of the present invention includes at least:

an obtaining unit 601, configured to obtain a teaching motion trajectory parameter of the tracker 103, which is acquired by the tracker 103 during teaching motion;

a conversion unit 602, configured to convert the teaching motion trajectory parameters obtained by the obtaining unit 601 into simulated motion trajectory parameters according to a motion trajectory parameter transformation relationship between the tracker 103 and the mechanical arm 101 obtained in advance;

and a control unit 603, configured to control the robot arm 101 to simulate teaching motions based on the simulated motion trajectory parameters obtained by the conversion unit 602.

In a possible implementation, the teaching motion trajectory parameters obtained by the obtaining unit 601 include: teaching position coordinates and/or teaching posture angles of the tracker; the analog motion trajectory parameters obtained by the conversion unit 602 include: and simulating the position coordinates and/or simulating the attitude angles of the tail end of the mechanical arm.

In one possible embodiment, when the teaching motion trajectory parameters obtained by the obtaining unit 601 are converted into the simulated motion trajectory parameters according to the motion trajectory parameter transformation relationship between the tracker 103 and the robot arm 101 obtained in advance, the converting unit 602 is configured to:

according to the coordinate rotation transformation relation between the tracker 103 and the mechanical arm 101 in the motion trail parameter transformation relation, carrying out coordinate system conversion processing on the teaching motion trail parameters to obtain teaching motion trail parameters in a mechanical arm coordinate system;

and performing pose conversion processing on the teaching motion trail parameters under the mechanical arm coordinate system according to the pose transformation relation between the tracker 103 and the tail end of the mechanical arm 101 in the motion trail parameter transformation relation to obtain simulated motion trail parameters.

In a possible implementation manner, the pose transformation relationship includes a relative position relationship between an origin of a coordinate system of the tracker 103 and the end of the robot arm 101 and a pose transformation relationship between the tracker 103 and the end of the robot arm 101, and when the teaching motion trajectory parameters in the robot arm coordinate system are subjected to pose transformation processing according to the pose transformation relationship between the tracker 103 and the end of the robot arm 101 in the motion trajectory parameter transformation relationship, so as to obtain simulated motion trajectory parameters, the transformation unit 602 is configured to:

according to the relative position relation in the pose transformation relation, carrying out position translation processing on the teaching motion track parameters under the mechanical arm coordinate system to obtain teaching motion track parameters of the tail end of the mechanical arm;

and performing attitude conversion processing on the teaching motion trail parameters at the tail end of the mechanical arm according to the attitude transformation relation in the attitude transformation relation to obtain simulated motion trail parameters.

according to the coordinate transformation translation relationship between the tracker 103 and the mechanical arm 101 in the motion trail parameter transformation relationship, carrying out coordinate system transformation and coordinate translation processing on the teaching motion trail parameters to obtain teaching motion trail parameters at the tail end of the mechanical arm;

and performing attitude conversion processing on the teaching motion trail parameters at the tail end of the mechanical arm according to the attitude conversion relation between the tracker 103 and the tail end of the mechanical arm 101 in the motion trail parameter conversion relation to obtain simulated motion trail parameters.

In a possible implementation manner, the coordinate transformation and translation relationship includes a coordinate rotation transformation relationship and a coordinate translation transformation relationship between the tracker 103 and the robot arm 101, and when the teaching motion trajectory parameters are subjected to coordinate system transformation and coordinate translation processing according to the coordinate transformation and translation relationship between the tracker 103 and the robot arm 101 in the motion trajectory parameter transformation relationship, so as to obtain the teaching motion trajectory parameters of the robot arm end, the transformation unit 602 is configured to:

according to the coordinate rotation transformation relation in the coordinate transformation translation relation, carrying out coordinate system conversion processing on the teaching motion track parameters to obtain teaching motion track parameters under a mechanical arm coordinate system;

and carrying out position translation processing on the teaching motion trail parameters under the mechanical arm coordinate system according to the coordinate translation transformation relation in the coordinate translation transformation relation to obtain the teaching motion trail parameters of the tail end of the mechanical arm.

In one possible embodiment, when controlling the robot arm 101 to simulate the teaching motion based on the simulated motion trajectory parameters obtained by the conversion unit 602, the control unit 603 is configured to:

controlling the tail end of the mechanical arm 101 to move from the current position coordinate to the mechanical arm tail end simulation position coordinate; and/or the presence of a gas in the gas,

the end of the robot arm 101 is controlled to rotate from the current pose angle to the simulated pose angle of the end of the robot arm.

Further, another robot teaching apparatus according to an embodiment of the present invention is provided, which is applied to the tracker 103 communicatively connected to the robot controller 102, and referring to fig. 7, the robot teaching apparatus 700 according to the exemplary embodiment of the present invention includes at least:

an acquisition unit 701, configured to acquire a teaching motion trajectory parameter of the tracker 103 during teaching motion;

and a communication unit 702, configured to send the teaching motion trajectory parameters acquired by the acquisition unit 701 to the robot arm controller 102.

In a possible implementation, the teaching motion trajectory parameters acquired by the acquisition unit 701 include: the tracker teaches position coordinates and/or the tracker teaches attitude angles.

Having described the robot arm teaching system, method and apparatus of exemplary embodiments of the present invention, a brief description of the robot arm controller 102 of exemplary embodiments of the present invention follows.

Referring to fig. 8, the robot controller 102 according to an exemplary embodiment of the present invention may include a processor 81, a memory 82, and a computer program stored in the memory 82, the steps of the robot teaching method according to various exemplary embodiments of the present invention being implemented when the processor 81 executes the computer program.

It should be noted that the arm controller 102 shown in fig. 8 is only an example, and should not bring any limitation to the function and the application range of the embodiment of the present invention.

The arm controller 102 of the exemplary embodiment of the present invention may also include a bus 83 that connects the various components, including the processor 81 and the memory 82. Bus 83 represents one or more of any of several types of bus structures, including a memory bus, a peripheral bus, a local bus, and so forth.

The Memory 82 may include readable media in the form of volatile Memory, such as Random Access Memory (RAM) 821 and/or cache Memory 822, and may further include Read Only Memory (ROM) 823.

The memory 82 may also include a program tool 825 having a set (at least one) of program modules 824, the program modules 824 including, but not limited to: an operating subsystem, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

The arm controller 102 may also communicate with one or more external devices 84 (e.g., a keyboard, a remote control, etc.), may also communicate with one or more devices that enable a user to interact with the arm controller 102, and/or may communicate with any device (e.g., a router, a modem, etc.) that enables the arm controller 102 to communicate with one or more other arm controllers 102. Such communication may be through an Input/Output (I/O) interface 85. Also, the arm controller 102 may communicate with one or more networks (e.g., a Local Area Network (LAN), Wide Area Network (WAN), and/or a public Network, such as the internet) via the Network adapter 86. As shown in fig. 8, the network adapter 86 communicates with the other modules of the arm controller 102 via the bus 83. It should be understood that although not shown in fig. 8, other hardware and/or software modules may be used in conjunction with the arm controller 102, including but not limited to: microcode, device drivers, Redundant processors, external disk drive Arrays, disk array (RAID) subsystems, tape drives, and data backup storage subsystems, to name a few.

The following describes a computer storage medium provided by an embodiment of the present invention. The computer of the exemplary embodiments of the present invention stores an executable program that is executed by a processor to implement the steps of the robot arm teaching method of the various exemplary embodiments of the present invention. In particular, the executable program may be embedded within the robot arm controller 102 such that the robot arm controller 102 may perform the steps of the robot arm teaching method of various exemplary embodiments of the present invention by executing the embedded executable program.

Furthermore, the robot arm teaching method according to an exemplary embodiment of the present invention may also be implemented as a program product comprising program code for causing the robot arm controller 102 to carry out the steps of the robot arm teaching method according to various exemplary embodiments of the present invention, when the program product is executable on the robot arm controller 102.

The program product provided by the embodiment of the present invention may adopt any combination of one or more readable media, wherein the readable media may be readable signal media or readable storage media, and the readable storage media may be but not limited to systems, apparatuses or devices of electric, magnetic, optical, electromagnetic, infrared or semiconductor, or any combination thereof, and specifically, more specific examples (non-exhaustive list) of the readable storage media include: an electrical connection having one or more wires, a portable disk, a hard disk, a RAM, a ROM, an Erasable Programmable Read-Only Memory (EPROM), an optical fiber, a portable Compact disk Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The program product provided by the embodiment of the invention can adopt a CD-ROM and comprises program codes, and can run on a computing device. However, the program product provided by the embodiments of the present invention is not limited thereto, and in the embodiments of the present invention, the readable storage medium may be any tangible medium that can contain or store the program, which can be used by or in connection with an instruction execution system, apparatus, or device.

A readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, etc., or any suitable combination of the foregoing.

Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user device, partly on the user device, as a stand-alone software package, partly on the user device, partly on a remote computing device, or entirely on the remote computing device or server. In situations involving remote computing devices, the remote computing devices may be connected to the user computing device over any kind of network, such as over a LAN or WAN; alternatively, an external computing device may be connected (e.g., through the Internet using an Internet service provider).

It should be noted that although several units or sub-units of the apparatus are mentioned in the above detailed description, such division is merely exemplary and not mandatory. Indeed, the features and functions of two or more of the units described above may be embodied in one unit, according to embodiments of the invention. Conversely, the features and functions of one unit described above may be further divided into embodiments by a plurality of units.

Moreover, while the operations of the method of the invention are depicted in the drawings in a particular order, this does not require or imply that the operations must be performed in this particular order, or that all of the illustrated operations must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.

It will be apparent to those skilled in the art that various modifications and variations can be made in the embodiments of the present invention without departing from the spirit or scope of the embodiments of the invention. Thus, if such modifications and variations of the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to encompass such modifications and variations.

Claims

1. A mechanical arm teaching method is applied to a mechanical arm controller, and comprises the following steps:

acquiring teaching motion trail parameters of the tracker, acquired by the tracker during teaching motion, of the tracker, wherein the teaching motion trail parameters of the tracker comprise: teaching position coordinates and/or teaching posture angles of the tracker;

converting the teaching motion trail parameters of the tracker into simulated motion trail parameters of the tail end of the mechanical arm according to a motion trail parameter conversion relation between the tracker and the mechanical arm obtained in advance; the motion trail parameter transformation relation between the tracker and the mechanical arm comprises a coordinate rotation transformation relation between the tracker and the mechanical arm and a pose transformation relation between the tracker and the tail end of the mechanical arm, the coordinate rotation transformation relation is used for converting teaching motion trail parameters of the tracker from a tracker coordinate system to a mechanical arm coordinate system, and the pose transformation relation is used for converting the teaching motion trail parameters in the mechanical arm coordinate system into the simulated motion trail parameters; or; the motion trail parameter transformation relation between the tracker and the mechanical arm comprises a coordinate transformation translation relation between the tracker and the mechanical arm and a posture transformation relation between the tracker and the mechanical arm, the coordinate transformation translation relation is used for carrying out coordinate system conversion and coordinate translation processing on a taught motion trail parameter of the tracker to obtain a taught motion trail parameter of the mechanical arm tail end, and the posture transformation relation is used for carrying out posture conversion processing on the taught motion trail parameter of the mechanical arm tail end to obtain the simulated motion trail parameter;

controlling the mechanical arm to simulate the teaching motion based on the simulated motion trail parameters;

wherein the pose transformation relationship comprises a relative position relationship between an origin of the tracker coordinate system and the tail end of the mechanical arm and a pose transformation relationship between the tracker and the tail end of the mechanical arm, and then the teaching motion trail parameters in the mechanical arm coordinate system are converted into the simulation motion trail parameters according to the following steps:

according to the relative position relation in the pose transformation relation, carrying out position translation processing on the teaching motion trail parameters under the mechanical arm coordinate system to obtain teaching motion trail parameters of the tail end of the mechanical arm; and performing attitude conversion processing on the teaching motion trail parameters at the tail end of the mechanical arm according to the attitude transformation relation in the attitude transformation relation to obtain the simulated motion trail parameters.

2. The robot arm teaching method according to claim 1, wherein the simulating motion trajectory parameters includes: and simulating the position coordinates and/or simulating the attitude angles of the tail end of the mechanical arm.

3. A robot arm teaching method according to claim 1 or 2, wherein the coordinate conversion translation relationship includes a coordinate rotation conversion relationship and a coordinate translation conversion relationship between the tracker and the robot arm, the taught trajectory parameters of the tracker are converted into the taught trajectory parameters of the robot arm tip according to the following steps:

according to the coordinate rotation transformation relation in the coordinate rotation transformation translation relation, carrying out coordinate system conversion processing on the teaching motion trail parameters of the tracker to obtain teaching motion trail parameters under a mechanical arm coordinate system;

and carrying out position translation processing on the taught motion trail parameters under the mechanical arm coordinate system according to the coordinate translation transformation relation in the coordinate translation transformation relation to obtain the taught motion trail parameters of the tail end of the mechanical arm.

4. The robot arm teaching method according to claim 2, wherein controlling the robot arm to simulate the teaching motion based on the simulated motion trajectory parameter includes:

controlling the tail end of the mechanical arm to move from the current position coordinate to the simulation position coordinate of the tail end of the mechanical arm; and/or the presence of a gas in the gas,

and controlling the tail end of the mechanical arm to rotate from the current attitude angle to the simulated attitude angle of the tail end of the mechanical arm.

5. A mechanical arm teaching method is applied to a tracker, and comprises the following steps:

the teaching motion trail parameters of the tracker during the teaching motion are collected, and the teaching motion trail parameters of the tracker comprise: teaching position coordinates and/or teaching posture angles of the tracker;

the teaching motion trail parameters are sent to a mechanical arm controller, the mechanical arm controller converts the teaching motion trail parameters of the tracker into simulated motion trail parameters of the tail end of the mechanical arm according to a motion trail parameter conversion relation between the tracker and the mechanical arm obtained in advance, and the mechanical arm is controlled to simulate the teaching motion based on the simulated motion trail parameters; the motion trail parameter transformation relation between the tracker and the mechanical arm comprises a coordinate rotation transformation relation between the tracker and the mechanical arm and a pose transformation relation between the tracker and the tail end of the mechanical arm, the coordinate rotation transformation relation is used for converting teaching motion trail parameters of the tracker from a tracker coordinate system to a mechanical arm coordinate system, and the pose transformation relation is used for converting the teaching motion trail parameters in the mechanical arm coordinate system into the simulated motion trail parameters; or; the motion trail parameter transformation relation between the tracker and the mechanical arm comprises a coordinate transformation translation relation between the tracker and the mechanical arm and a posture transformation relation between the tracker and the mechanical arm, the coordinate transformation translation relation is used for carrying out coordinate system conversion and coordinate translation processing on a taught motion trail parameter of the tracker to obtain a taught motion trail parameter of the mechanical arm tail end, and the posture transformation relation is used for carrying out posture conversion processing on the taught motion trail parameter of the mechanical arm tail end to obtain the simulated motion trail parameter;

wherein, the pose transformation relation comprises a relative position relation between an origin of the tracker coordinate system and the tail end of the mechanical arm and a pose transformation relation between the tracker and the tail end of the mechanical arm, and the mechanical arm controller converts the teaching motion trail parameters in the mechanical arm coordinate system into the simulation motion trail parameters according to the following steps:

6. The utility model provides a manipulator teaching device which characterized in that is applied to the manipulator controller, wherein, the manipulator teaching device includes:

the acquisition unit is used for acquiring teaching motion trail parameters of the tracker, acquired by the tracker during teaching motion, and the teaching motion trail parameters of the tracker comprise: teaching position coordinates and/or teaching posture angles of the tracker;

the conversion unit is used for converting the teaching motion trail parameters of the tracker obtained by the obtaining unit into the simulated motion trail parameters of the tail end of the mechanical arm according to the motion trail parameter conversion relation between the tracker and the mechanical arm obtained in advance; the motion trail parameter transformation relation between the tracker and the mechanical arm comprises a coordinate rotation transformation relation between the tracker and the mechanical arm and a pose transformation relation between the tracker and the tail end of the mechanical arm, the coordinate rotation transformation relation is used for converting teaching motion trail parameters of the tracker from a tracker coordinate system to a mechanical arm coordinate system, and the pose transformation relation is used for converting the teaching motion trail parameters in the mechanical arm coordinate system into the simulated motion trail parameters; or; the motion trail parameter transformation relation between the tracker and the mechanical arm comprises a coordinate transformation translation relation between the tracker and the mechanical arm and a posture transformation relation between the tracker and the mechanical arm, the coordinate transformation translation relation is used for carrying out coordinate system conversion and coordinate translation processing on a taught motion trail parameter of the tracker to obtain a taught motion trail parameter of the mechanical arm tail end, and the posture transformation relation is used for carrying out posture conversion processing on the taught motion trail parameter of the mechanical arm tail end to obtain the simulated motion trail parameter;

the control unit is used for controlling the mechanical arm to simulate the teaching motion based on the simulated motion trail parameters obtained by the conversion unit;

wherein the pose transformation relationship includes a relative position relationship between an origin of the tracker coordinate system and the end of the robot arm and a pose transformation relationship between the tracker and the end of the robot arm, and the converting unit is specifically configured to:

7. The robot arm teaching device according to claim 6, wherein the simulated motion trajectory parameters obtained by the conversion unit include: and simulating the position coordinates and/or simulating the attitude angles of the tail end of the mechanical arm.

8. A robot arm teaching device according to claim 6 or 7, wherein the coordinate conversion translation relationship includes a coordinate rotation conversion relationship and a coordinate translation conversion relationship between the tracker and the robot arm, the conversion unit is configured to:

9. The robot arm teaching device according to claim 7, wherein when controlling the robot arm to simulate the teaching motion based on the simulated motion trajectory parameter obtained by the conversion unit, the control unit is configured to:

10. A robot teaching device, applied to a tracker, the robot teaching device comprising:

the acquisition unit is used for acquiring teaching motion trail parameters of the tracker during teaching motion, and the teaching motion trail parameters of the tracker comprise: teaching position coordinates and/or teaching posture angles of the tracker;

a communication unit, configured to send the taught motion trajectory parameters to a robot arm controller, where the robot arm controller converts the taught motion trajectory parameters of the tracker into simulated motion trajectory parameters of the robot arm end according to a pre-obtained motion trajectory parameter transformation relationship between the tracker and the robot arm, and controls the robot arm to simulate the taught motion based on the simulated motion trajectory parameters, where the motion trajectory parameter transformation relationship between the tracker and the robot arm includes a coordinate rotation transformation relationship between the tracker and the robot arm and a pose transformation relationship between the tracker and the robot arm end, the coordinate rotation transformation relationship is used to convert the taught motion trajectory parameters of the tracker from a tracker coordinate system to a robot arm coordinate system, and the pose transformation relationship is used to convert the taught motion trajectory parameters in the robot arm coordinate system into the simulated motion trajectory parameters in the simulated motion trajectory parameter transformation relationship Counting; or; the motion trail parameter transformation relation between the tracker and the mechanical arm comprises a coordinate transformation translation relation between the tracker and the mechanical arm and a posture transformation relation between the tracker and the mechanical arm, the coordinate transformation translation relation is used for carrying out coordinate system conversion and coordinate translation processing on a taught motion trail parameter of the tracker to obtain a taught motion trail parameter of the mechanical arm tail end, and the posture transformation relation is used for carrying out posture conversion processing on the taught motion trail parameter of the mechanical arm tail end to obtain the simulated motion trail parameter;

the pose transformation relation comprises a relative position relation between an origin of a tracker coordinate system and the tail end of the mechanical arm and a pose transformation relation between the tracker and the tail end of the mechanical arm, and the mechanical arm controller performs position translation processing on the taught motion track parameters under the mechanical arm coordinate system according to the relative position relation in the pose transformation relation to obtain the taught motion track parameters of the tail end of the mechanical arm; and performing attitude conversion processing on the teaching motion trail parameters at the tail end of the mechanical arm according to the attitude transformation relation in the attitude transformation relation to obtain the simulated motion trail parameters.

11. A robot teaching system, comprising: a robotic arm, a robotic arm controller, and a tracker in communicative connection with the robotic arm controller, wherein,

the tracker is used for collecting teaching motion trail parameters of the tracker during teaching motion and sending the teaching motion trail parameters to the mechanical arm controller, and the teaching motion trail parameters of the tracker comprise: teaching position coordinates and/or teaching posture angles of the tracker;

the mechanical arm controller is used for converting the teaching motion trail parameters of the tracker into simulated motion trail parameters of the tail end of the mechanical arm according to a motion trail parameter conversion relation between the tracker and the mechanical arm obtained in advance, and controlling the mechanical arm to simulate the teaching motion based on the simulated motion trail parameters; the motion trail parameter transformation relation between the tracker and the mechanical arm comprises a coordinate rotation transformation relation between the tracker and the mechanical arm and a pose transformation relation between the tracker and the tail end of the mechanical arm, the coordinate rotation transformation relation is used for converting teaching motion trail parameters of the tracker from a tracker coordinate system to a mechanical arm coordinate system, and the pose transformation relation is used for converting the teaching motion trail parameters in the mechanical arm coordinate system into the simulated motion trail parameters; or; the motion trail parameter transformation relation between the tracker and the mechanical arm comprises a coordinate transformation translation relation between the tracker and the mechanical arm and a posture transformation relation between the tracker and the mechanical arm, the coordinate transformation translation relation is used for carrying out coordinate system conversion and coordinate translation processing on a taught motion trail parameter of the tracker to obtain a taught motion trail parameter of the mechanical arm tail end, and the posture transformation relation is used for carrying out posture conversion processing on the taught motion trail parameter of the mechanical arm tail end to obtain the simulated motion trail parameter;

wherein the pose transformation relation comprises a relative position relation between the origin of the tracker coordinate system and the tail end of the mechanical arm and a pose transformation relation between the tracker and the tail end of the mechanical arm; the manipulator controller is specifically configured to perform position translation processing on the taught motion trajectory parameter in the manipulator coordinate system according to the relative position relationship in the pose transformation relationship, so as to obtain a taught motion trajectory parameter at the end of the manipulator; and performing attitude conversion processing on the teaching motion trail parameters at the tail end of the mechanical arm according to the attitude transformation relation in the attitude transformation relation to obtain the simulated motion trail parameters.

12. The robot arm teaching system of claim 11, wherein the simulated motion trajectory parameters comprise: and simulating the position coordinates and/or simulating the attitude angles of the tail end of the mechanical arm.

13. A robot arm teaching system according to claim 11 or 12, wherein the coordinate transformation translation relationship includes a coordinate rotation transformation relationship and a coordinate translation transformation relationship between the tracker and the robot arm; the mechanical arm controller is specifically used for performing coordinate system conversion processing on the teaching motion trail parameters of the tracker according to the coordinate rotation transformation relation in the coordinate transformation translation relation to obtain teaching motion trail parameters under a mechanical arm coordinate system; and carrying out position translation processing on the taught motion trail parameters under the mechanical arm coordinate system according to the coordinate translation transformation relation in the coordinate translation transformation relation to obtain the taught motion trail parameters of the tail end of the mechanical arm.

14. The robot arm teaching system of claim 12, wherein the robot arm controller is specifically configured to control the robot arm tip to move from current position coordinates to the robot arm tip simulation position coordinates; and/or controlling the tail end of the mechanical arm to rotate from the current attitude angle to the simulated attitude angle of the tail end of the mechanical arm.

15. A computer storage medium, characterized in that the computer storage medium stores an executable program which is executed by a processor to perform steps of implementing a robot arm teaching method according to any of claims 1-4; alternatively, the steps of implementing the robot arm teaching method of claim 5.

16. A robot arm controller, comprising: memory, a processor and a computer program stored on the memory, the processor implementing the steps of the robot arm teaching method according to any of claims 1-4 when executing the computer program.

17. A robot arm comprising the robot arm controller of claim 16.